diff --git a/conf/airframes/ardrone2_opticflow_hover.xml b/conf/airframes/ardrone2_opticflow_hover.xml
index dfb6a69038..acc324ea64 100644
--- a/conf/airframes/ardrone2_opticflow_hover.xml
+++ b/conf/airframes/ardrone2_opticflow_hover.xml
@@ -216,7 +216,7 @@
   <section name="AUTOPILOT">
     <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
     <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
+    <define name="MODE_AUTO1" value="AP_MODE_MODULE_OUTERLOOP"/>
     <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
   </section>
 
diff --git a/sw/airborne/modules/computer_vision/opticflow_module.c b/sw/airborne/modules/computer_vision/opticflow_module.c
index b7967bfbc8..33c32a2c09 100644
--- a/sw/airborne/modules/computer_vision/opticflow_module.c
+++ b/sw/airborne/modules/computer_vision/opticflow_module.c
@@ -97,6 +97,8 @@ void opticflow_module_run(void)
   }
 }
 
+#include "firmwares/rotorcraft/navigation.h"
+
 void guidance_module_run(bool_t inflight)
 {
   nav_flight_altitude = -1;